Proposal Of A Multifunctional Mini Negative Pressure Wall-climbing Robot Hardware And Software Design

Wall-climbing robots can do a lot of jobs in dangerous environments instead of human beings, they have a wide range of use and high value. What people had already invented are bulky and heavy although powerful, some are small but with little function. For this reason, a multifunctional mini negative pressure wall-climbing robot is proposed in this dissertation. This robot can form the mini single-body robot with strong ability to adapt the wall and to carry the load. It also can form the mini dual-body robot with the ability to transit from different surfaces, cross barriers and cross the grooves.This paper systematically analysed domestic robots and those are abroad, and designed a multifunctional mini negative pressure wall-climbing robot by a creative proposal. Some details of mechanism system and control system which contains both hardware design and software design of a mini climbing robot.Firstly, based on previous researches, a mini dual-body robot with the ability to transit from different surfaces was designed.Secondly, comparing the microcontrollers which are very popular used nowadays, the author chose LPC2214 as the Central Processing Unit, because it is a kind of ARM7TDMIS kernel microcontroller with strong operational function. The author also designed the embedded system of the wall-climbing robot. After overviewing the idea of controller design, the paper introduced the external circuit of the microcontroller and the sensors circuit. When it comes to the mini single-body robot and mini double-body robot software design, some details of embedded real-time systemμC/OS-Ⅱare presented.At last, based on experiments, sum up the performance Parameters on the design of mini wall-climbing robot.